// Pseudo code which contains uMsg api function calls to test graph generation

int main( void )
{
    // single task which will publish messages and then read them back
    xTaskCreate(dummy_task, "dummy_task", 1000, NULL, 1, NULL);
    vTaskStartScheduler();

    return 0;
}

static void dummy_task(void* params)
{
    umsg_sensor_imu_t imu_msg;
    umsg_estimation_attitude_t att_msg;
    umsg_sub_handle_t sub =  umsg_sensor_imu_subscribe(1,1);
    while(1) 
    {
        // wait for imu data
        umsg_sensor_imu_receive(sub, &msg, portMAX_DELAY);

        // filter imu data

        // run kalman filter

        // publish attitude
        umsg_estimation_attitude_publish(&att_msg);
      
    }
}
